Build grid_map in actions

[lucasw]

Duplicate in a docker file:

024-01-06T01:38:37.0352753Z Errors << grid_map_filters:cmake /home/runner/work/ros_from_src/ros_from_src/install_base_catkin_ws/logs/grid_map_filters/build.cmake.000.log
2024-01-06T01:38:37.0354590Z CMake Warning (dev) at /usr/share/catkin/cmake/python.cmake:7 (find_package):
2024-01-06T01:38:37.0355969Z   Policy CMP0148 is not set: The FindPythonInterp and FindPythonLibs modules
2024-01-06T01:38:37.0357720Z   are removed.  Run "cmake --help-policy CMP0148" for policy details.  Use
2024-01-06T01:38:37.0360136Z   the cmake_policy command to set the policy and suppress this warning.
2024-01-06T01:38:37.0361004Z 
2024-01-06T01:38:37.0361349Z Call Stack (most recent call first):
2024-01-06T01:38:37.0362191Z   /usr/share/catkin/cmake/all.cmake:164 (include)
2024-01-06T01:38:37.0363164Z   /usr/share/catkin/cmake/catkinConfig.cmake:20 (include)
2024-01-06T01:38:37.0364043Z   CMakeLists.txt:30 (find_package)
2024-01-06T01:38:37.0365091Z This warning is for project developers.  Use -Wno-dev to suppress it.
2024-01-06T01:38:37.0365800Z 
2024-01-06T01:38:37.0366932Z CMake Error at /home/runner/work/ros_from_src/ros_from_src/install_base_catkin_ws/src/ros/grid_map/grid_map_filters/CMakeLists.txt:35 (find_package):
2024-01-06T01:38:37.0368766Z   Could not find a configuration file for package "TBB" that is compatible
2024-01-06T01:38:37.0369837Z   with requested version "2021.8.0".
2024-01-06T01:38:37.0370422Z 
2024-01-06T01:38:37.0370964Z   The following configuration files were considered but not accepted:
2024-01-06T01:38:37.0371767Z 
2024-01-06T01:38:37.0372499Z     /usr/lib/x86_64-linux-gnu/cmake/TBB/TBBConfig.cmake, version: 2021.5.0
2024-01-06T01:38:37.0374375Z     /lib/x86_64-linux-gnu/cmake/TBB/TBBConfig.cmake, version: 2021.5.0
2024-01-06T01:38:37.0375194Z 
2024-01-06T01:38:37.0375311Z 
2024-01-06T01:38:37.0375422Z 

[lucasw]

Rebasing cpp17 and tbb_2021 branches onto latest upstream grid_map -> ANYbotics/grid_map#350

[lucasw]

Warnings   << grid_map_cv:make /home/lucasw/install_base_catkin_ws/logs/grid_map_cv/build.make.029.log                                                                                                                        
In file included from /home/lucasw/base_catkin_ws/src/ros/grid_map/grid_map_cv/include/grid_map_cv/grid_map_cv.hpp:12,
                 from /home/lucasw/base_catkin_ws/src/ros/grid_map/grid_map_cv/include/grid_map_cv/InpaintFilter.hpp:14,
                 from /home/lucasw/base_catkin_ws/src/ros/grid_map/grid_map_cv/src/InpaintFilter.cpp:9:
In static member function ‘static bool grid_map::GridMapCvConverter::toImage(const grid_map::GridMap&, const std::string&, int, float, float, cv::Mat&) [with Type_ = unsigned char; int NChannels_ = 3]’,
    inlined from ‘bool grid_map::InpaintFilter<T>::update(const T&, T&) [with T = grid_map::GridMap]’ at /home/lucasw/base_catkin_ws/src/ros/grid_map/grid_map_cv/src/InpaintFilter.cpp:84:58:
/home/lucasw/base_catkin_ws/src/ros/grid_map/grid_map_cv/include/grid_map_cv/GridMapCvConverter.hpp:241:89: warning: writing 1 byte into a region of size 0 [-Wstringop-overflow=]
  241 |           image.at<cv::Vec<Type_, NChannels_>>(imageIndex(0), imageIndex(1))[++channel] = imageMax;
      |           ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~
In file included from /usr/include/opencv4/opencv2/core.hpp:56,
                 from /usr/include/opencv4/opencv2/core/core.hpp:48,
                 from /home/lucasw/install_base_catkin_ws/install/include/cv_bridge/cv_bridge.h:43,
                 from /home/lucasw/base_catkin_ws/src/ros/grid_map/grid_map_cv/include/grid_map_cv/GridMapCvConverter.hpp:14:
/usr/include/opencv4/opencv2/core/matx.hpp: In member function ‘bool grid_map::InpaintFilter<T>::update(const T&, T&) [with T = grid_map::GridMap]’:
/usr/include/opencv4/opencv2/core/matx.hpp:218:9: note: at offset 3 into destination object ‘cv::Matx<unsigned char, 3, 1>::val’ of size 3
  218 |     _Tp val[m*n]; //< matrix elements
      |         ^~~

[lucasw]

More warnings but compiles

______________________________________________________________________________________________________________________________________________________________________________________________________________________________
Warnings   << grid_map_filters:make /home/lucasw/install_base_catkin_ws/logs/grid_map_filters/build.make.015.log                                                                                                              
/home/lucasw/base_catkin_ws/src/ros/grid_map/grid_map_filters/src/ColorBlendingFilter.cpp: In member function ‘virtual bool grid_map::ColorBlendingFilter::update(const grid_map::GridMap&, grid_map::GridMap&)’:
/home/lucasw/base_catkin_ws/src/ros/grid_map/grid_map_filters/src/ColorBlendingFilter.cpp:85:22: warning: ‘*(float*)((char*)&outputColor + offsetof(Eigen::Array3f, Eigen::Array<float, 3, 1, 0, 3, 1>::<unnamed>.Eigen::PlainObjectBase<Eigen::Array<float, 3, 1, 0, 3, 1> >::<unnamed>.Eigen::ArrayBase<Eigen::Array<float, 3, 1, 0, 3, 1> >::<unnamed>.Eigen::DenseBase<Eigen::Array<float, 3, 1, 0, 3, 1> >::<unnamed>.Eigen::DenseCoeffsBase<Eigen::Array<float, 3, 1, 0, 3, 1>, 3>::<unnamed>.Eigen::DenseCoeffsBase<Eigen::Array<float, 3, 1, 0, 3, 1>, 1>::<unnamed>.Eigen::DenseCoeffsBase<Eigen::Array<float, 3, 1, 0, 3, 1>, 0>::<unnamed>))’ is used uninitialized [-Wuninitialized]
   85 |       Eigen::Array3f outputColor;
      |                      ^~~~~~~~~~~
/home/lucasw/base_catkin_ws/src/ros/grid_map/grid_map_filters/src/ColorBlendingFilter.cpp:85:22: warning: ‘outputColor.Eigen::Array<float, 3, 1, 0, 3, 1>::<unnamed>.Eigen::PlainObjectBase<Eigen::Array<float, 3, 1, 0, 3, 1> >::m_storage.Eigen::DenseStorage<float, 3, 3, 1, 0>::m_data.Eigen::internal::plain_array<float, 3, 0, 0>::array[1]’ is used uninitialized [-Wuninitialized]
In file included from /usr/include/eigen3/Eigen/Core:257,
                 from /home/lucasw/base_catkin_ws/src/ros/grid_map/grid_map_filters/include/grid_map_filters/ColorBlendingFilter.hpp:11,
                 from /home/lucasw/base_catkin_ws/src/ros/grid_map/grid_map_filters/src/ColorBlendingFilter.cpp:9:
In member function ‘void Eigen::internal::assign_op<DstScalar, SrcScalar>::assignCoeff(DstScalar&, const SrcScalar&) const [with DstScalar = float; SrcScalar = float]’,
    inlined from ‘void Eigen::internal::generic_dense_assignment_kernel<DstEvaluatorTypeT, SrcEvaluatorTypeT, Functor, Version>::assignCoeff(Eigen::Index, Eigen::Index) [with DstEvaluatorTypeT = Eigen::internal::evaluator<Eigen::Matrix<float, 3, 1> >; SrcEvaluatorTypeT = Eigen::internal::evaluator<Eigen::Array<float, 3, 1> >; Functor = Eigen::internal::assign_op<float, float>; int Version = 0]’ at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:654:26,
    inlined from ‘void Eigen::internal::generic_dense_assignment_kernel<DstEvaluatorTypeT, SrcEvaluatorTypeT, Functor, Version>::assignCoeffByOuterInner(Eigen::Index, Eigen::Index) [with DstEvaluatorTypeT = Eigen::internal::evaluator<Eigen::Matrix<float, 3, 1> >; SrcEvaluatorTypeT = Eigen::internal::evaluator<Eigen::Array<float, 3, 1> >; Functor = Eigen::internal::assign_op<float, float>; int Version = 0]’ at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:668:16,
    inlined from ‘static void Eigen::internal::copy_using_evaluator_DefaultTraversal_CompleteUnrolling<Kernel, Index, Stop>::run(Kernel&) [with Kernel = Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<float, 3, 1> >, Eigen::internal::evaluator<Eigen::Array<float, 3, 1> >, Eigen::internal::assign_op<float, float>, 0>; int Index = 2; int Stop = 3]’ at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:211:35,
    inlined from ‘static void Eigen::internal::copy_using_evaluator_DefaultTraversal_CompleteUnrolling<Kernel, Index, Stop>::run(Kernel&) [with Kernel = Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<float, 3, 1> >, Eigen::internal::evaluator<Eigen::Array<float, 3, 1> >, Eigen::internal::assign_op<float, float>, 0>; int Index = 1; int Stop = 3]’ at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:212:88,
    inlined from ‘static void Eigen::internal::copy_using_evaluator_DefaultTraversal_CompleteUnrolling<Kernel, Index, Stop>::run(Kernel&) [with Kernel = Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<float, 3, 1> >, Eigen::internal::evaluator<Eigen::Array<float, 3, 1> >, Eigen::internal::assign_op<float, float>, 0>; int Index = 0; int Stop = 3]’ at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:212:88,
    inlined from ‘static void Eigen::internal::dense_assignment_loop<Kernel, 3, 2>::run(Kernel&) [with Kernel = Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<float, 3, 1> >, Eigen::internal::evaluator<Eigen::Array<float, 3, 1> >, Eigen::internal::assign_op<float, float>, 0>]’ at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:456:92,
    inlined from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Matrix<float, 3, 1>; SrcXprType = Eigen::Array<float, 3, 1>; Functor = assign_op<float, float>]’ at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:785:37,
    inlined from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Matrix<float, 3, 1>; SrcXprType = Eigen::Array<float, 3, 1>; Functor = Eigen::internal::assign_op<float, float>; Weak = void]’ at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:954:31,
    inlined from ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Matrix<float, 3, 1>; Src = Eigen::Array<float, 3, 1>; Func = assign_op<float, float>]’ at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:890:49,
    inlined from ‘Derived& Eigen::PlainObjectBase<Derived>::_set_noalias(const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::Array<float, 3, 1>; Derived = Eigen::Matrix<float, 3, 1>]’ at /usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:797:41,
    inlined from ‘void Eigen::PlainObjectBase<Derived>::_init1(const Eigen::DenseBase<ElseDerived>&) [with T = Eigen::Array<float, 3, 1>; OtherDerived = Eigen::Array<float, 3, 1>; Derived = Eigen::Matrix<float, 3, 1>]’ at /usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:883:25,
    inlined from ‘Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::Matrix(const T&) [with T = Eigen::Array<float, 3, 1>; _Scalar = float; int _Rows = 3; int _Cols = 1; int _Options = 0; int _MaxRows = 3; int _MaxCols = 1]’ at /usr/include/eigen3/Eigen/src/Core/Matrix.h:332:31,
    inlined from ‘virtual bool grid_map::ColorBlendingFilter::update(const grid_map::GridMap&, grid_map::GridMap&)’ at /home/lucasw/base_catkin_ws/src/ros/grid_map/grid_map_filters/src/ColorBlendingFilter.cpp:132:33:
/usr/include/eigen3/Eigen/src/Core/functors/AssignmentFunctors.h:24:102: warning: ‘outputColor.Eigen::Array<float, 3, 1, 0, 3, 1>::<unnamed>.Eigen::PlainObjectBase<Eigen::Array<float, 3, 1, 0, 3, 1> >::m_storage.Eigen::DenseStorage<float, 3, 3, 1, 0>::m_data.Eigen::internal::plain_array<float, 3, 0, 0>::array[2]’ may be used uninitialized [-Wmaybe-uninitialized]
   24 |   EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeff(DstScalar& a, const SrcScalar& b) const { a = b; }
      |                                                                                                    ~~^~~
/home/lucasw/base_catkin_ws/src/ros/grid_map/grid_map_filters/src/ColorBlendingFilter.cpp: In member function ‘virtual bool grid_map::ColorBlendingFilter::update(const grid_map::GridMap&, grid_map::GridMap&)’:
/home/lucasw/base_catkin_ws/src/ros/grid_map/grid_map_filters/src/ColorBlendingFilter.cpp:85:22: note: ‘outputColor.Eigen::Array<float, 3, 1, 0, 3, 1>::<unnamed>.Eigen::PlainObjectBase<Eigen::Array<float, 3, 1, 0, 3, 1> >::m_storage.Eigen::DenseStorage<float, 3, 3, 1, 0>::m_data.Eigen::internal::plain_array<float, 3, 0, 0>::array[2]’ was declared here
   85 |       Eigen::Array3f outputColor;
      |                      ^~~~~~~~~~~
cd /home/lucasw/install_base_catkin_ws/build/grid_map_filters; catkin build --get-env grid_map_filters | catkin env -si  /usr/bin/make --jobserver-auth=3,4; cd -

[lucasw]

Need a docker file that builds grid_map (and everything else in the 22.04 repos yaml) to show that the updates for 22.04 and later aren't incompatible- but in a few cases probably do need different versions, have a delta repos yaml to overlay the 22.04 one.

[lucasw]

gridmap builds now but rtabmap fails

2024-01-06T17:35:53.5461710Z Errors << rtabmap_util:make /home/runner/work/ros_from_src/ros_from_src/devel_base_catkin_ws/logs/rtabmap_util/build.make.000.log
2024-01-06T17:35:53.5464647Z /home/runner/work/ros_from_src/ros_from_src/devel_base_catkin_ws/src/other/rtabmap_ros/rtabmap_util/src/MapsManager.cpp: In constructor ‘rtabmap_util::MapsManager::MapsManager()’:
2024-01-06T17:35:53.5468054Z /home/runner/work/ros_from_src/ros_from_src/devel_base_catkin_ws/src/other/rtabmap_ros/rtabmap_util/src/MapsManager.cpp:72:36: error: no matching function for call to ‘rtabmap::OccupancyGrid::OccupancyGrid()’
2024-01-06T17:35:53.5527464Z    72 |                 occupancyGrid_(new OccupancyGrid),
2024-01-06T17:35:53.5528173Z       |                                    ^~~~~~~~~~~~~
2024-01-06T17:35:53.5529968Z In file included from 

-> update rtabmap repos to upstream (make base repos yaml use upstream as well)

[lucasw]

It's all building now, but should look for other instances of where I've forked a project and update them if upstream has been updated